Automated testing system arrangements using docking station

ABSTRACT

Automated testing system arrangements using a docking station. One system includes a unit including: a) a polygonal base having a plurality of sides, a number of the plurality of sides including a docking station for mating with a mobile equipment carrying cart; and b) a robotic arm having a stationary base positioned on or in the polygonal base and configured to interact with the equipment on each mobile equipment carrying cart.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation-in-part application of U.S.application Ser. No. 11/394,373, filed Mar. 29, 2006, now U.S. Pat. No.7,560,071 and claims the benefit of US Provisional Application No.61/052291, filed May 12, 2008 under 35 USC 119(e).

BACKGROUND

1. Technical Field

The disclosure relates generally to the life sciences industry and moreparticularly to automated testing system arrangement using a dockingsystem for conducting high throughput screening in the life sciencesindustry.

2. Background Art

High throughput screening (HTS) is a well-known form of scientificexperimentation in the life sciences industry which enables a researchfacility to conduct a large quantity of experiments at the same time.Specifically, in one form of high throughput screening which iswell-known in the art, a plate is provided which includes a large numberof isolated, miniaturized wells (e.g., 96, 384 or 1536 wells per plate),whereby a unique compound is disposed within each well. An array ofdifferent substances is then deposited into each well with the promiseof discovering a desired reaction. In this manner, high throughputscreening can be used to subject a particular substance to an entirelibrary of compounds at the same time and, as a result, is highly usefulin the discovery of new medicines, vaccines and biopharmaceuticals.

High throughput screening is often performed in anenvironmentally-controllable enclosure which is commonly referred to asa cell or chamber. As can be appreciated, a laboratory cell affordsresearchers with an enclosed environment that is most suitable fortesting, which is highly desirable.

High throughput screening also traditionally relies on automation toconduct assays which are otherwise repetitive in nature, provided thatthe close control and intricate manipulative skills of human operatorscan be faithfully replicated using conventional robotics (e.g.,multi-axis robots). Various types of laboratory automation tools arepresently used in conjunction with high throughput screening.

BRIEF SUMMARY

A first aspect of the disclosure provides a system comprising: a unitincluding: a) a polygonal base having a plurality of sides, a number ofthe plurality of sides including a docking station for mating with amobile equipment carrying cart; and b) a robotic arm having a stationarybase positioned on or in the polygonal base and configured to interactwith the equipment on each mobile equipment carrying cart.

A second aspect of the disclosure provides a system comprising: a tableincluding an opening through an upper surface thereof, a docking stationfor mating with a mobile equipment carrying cart under the table,equipment on the mobile equipment moving cart being sealingly accessibleto the opening; a laminar flow enclosure enclosing at least the uppersurface of the table creating a biohazard safety level 2 environment;and a stationary robotic arm positioned in the laminar flow enclosurefor interaction with the equipment.

The illustrative aspects of the present disclosure are designed to solvethe problems herein described and/or other problems not discussed.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features of this disclosure will be more readilyunderstood from the following detailed description of the variousaspects of the disclosure taken in conjunction with the accompanyingdrawings that depict various embodiments of the disclosure, in which:

FIG. 1 is a top perspective view of an automated testing systemconstructed according to the teachings of the disclosure;

FIG. 2( a) is a top perspective view of one of the laboratory devicesshown in FIG. 1, the laboratory device being shown mounted on a cartthat is disengaged from a docking station;

FIG. 2( b) is a side perspective view of one of the laboratory devicesshown in FIG. 1, the laboratory device being shown mounted on a cartthat is engaged with a docking station;

FIG. 3 is a top perspective view of the laboratory device and cart shownin FIG. 2( a);

FIG. 4 is bottom perspective views of the laboratory device and cartshown in FIG. 2( a);

FIG. 5 is an enlarged, fragmentary bottom perspective view of the cartshown in FIG. 4;

FIG. 6 is an enlarged, fragmentary bottom perspective view of the cartshown in FIG. 5;

FIGS. 7( a) and (b) are enlarged, top perspective views of the dockingstation shown in FIG. 2( a) at various stages during the displacement ofits top plate relative to its base;

FIG. 8 is a top perspective view of the docking station shown in FIG. 7(a), the docking station being shown with its top plate removedtherefrom;

FIG. 9 is a front perspective view of the docking station shown in FIG.7( a);

FIG. 10 is an enlarged, fragmentary, top perspective view of the dockingstation shown in FIG. 7( b);

FIGS. 11 (a)-(c) are fragmentary section views of the cart and dockingstation shown in FIG. 2 (b), taken along lines 11-11, at various stagesduring the process of their engagement;

FIGS. 12 (a)-(c) are fragmentary section views of the cart and dockingstation shown in FIG. 2 (b), taken along lines 11-11, at various stagesduring the process of their engagement;

FIG. 13 is a top perspective view of an open architecture testing systemconstructed according to the teachings of the disclosure;

FIG. 14 is a top perspective view of one embodiment of a docking systemarrangement including equipment according to the disclosure;

FIG. 15 is a side perspective view of the FIG. 14 embodiment.

FIG. 16 is a top perspective view of the FIG. 14 embodiment, but withoutequipment.

FIG. 17 is a side perspective view of the FIG. 14 embodiment, butwithout equipment.

FIG. 18 is a top perspective view of another embodiment of a dockingsystem arrangement according to the disclosure.

FIG. 19 is a side perspective view of the FIG. 18 embodiment.

FIG. 20 is a top perspective view of the FIG. 18 embodiment.

FIG. 21 is a bottom perspective view of the FIG. 18 embodiment.

FIG. 22 is a partial, top perspective view of the FIG. 18 embodiment.

FIGS. 23-24 are a top perspective view of another embodiment of adocking system arrangement according to the disclosure.

FIG. 25 is a side perspective view of another embodiment of a dockingsystem arrangement according to the disclosure.

FIG. 26 is a top perspective view of the FIG. 25 embodiment.

FIG. 27 is a plan view of the FIG. 25 embodiment.

FIG. 28 is another side perspective view of the FIG. 25 embodiment.

It is noted that the drawings of the disclosure are not to scale. Thedrawings are intended to depict only typical aspects of the disclosure,and therefore should not be considered as limiting the scope of thedisclosure. In the drawings, like numbering represents like elementsbetween the drawings.

DETAILED DESCRIPTION

Referring now to FIG. 1, there is shown an automated testing system thatis constructed according to the teachings of the disclosure, theautomated testing system being identified generally by reference numeral11. As can be appreciated, system 11 is designed principally for use inconducting laboratory research in the life sciences industry and may beused, more specifically, to perform high throughput screening (HTS) inthe life sciences industry.

System 11 may comprise a pair of fixedly mounted end units 12-1 and 12-2which together support a flat table surface 13 on which certainlaboratory devices are fixedly mounted. In one embodiment, a transparenttesting chamber 14 is mounted on table surface 13 over the devices inorder to provide an enclosed testing environment that may be regulatedby the operator to optimize results.

System 11 additionally includes a pair of automated laboratory devices15-1 and 15-2 that are configured to be readily integrated into theabove-described testing environment. It should be noted that eachlaboratory device 15 represents any well-known piece of laboratoryequipment which is commonly used in conjunction with laboratory testingin the life sciences industry, device 15 may be either semi-automatic orfully-automatic in nature. For example, laboratory device 15 mayrepresent, inter alia, a multi-axis robot, an integrated lamp device, apipetting station, a centrifuge, an incubator, a plate washer, adetector, a plate carousel or some combination thereof.

Laboratory devices 15-1 and 15-2 are shown fixedly mounted oncorresponding carts 17-1 and 17-2, respectively. As shown in FIGS. 2( a)and 2(b), each cart 17 is designed to releasably engage with anassociated docking station 19 that is, in turn, fixedly mounted ontoworkspace floor 21. As will be described in detail below, the particularinterrelationship between carts 17 and docking stations 19 facilitatesboth: (i) the seamless integration of devices 15 into system 11, and(ii) the withdrawal of any device 15 from system 11 (e.g., to allow forthe repair, upgrading and/or alternate use of the device).

It should be noted that system 11 is not limited to use of anyparticular type and/or number of individual laboratory devices 15.Rather, it is to be understood that the type and/or number of laboratorydevices 15 that are used in system 11 may vary depending on theparticular type of testing to be performed.

System 11 further includes a central computer system (not shown) thatmay be mounted in a rack that is integrally provided in one of the fixedend units 12. With the central computer system located as such, theoverall footprint (i.e., dimensions) for system 11 is rendered morecompact in nature, which is desired in most laboratory settings in thelife sciences industry.

The central computer system is electronically linked with each of thevarious laboratory devices 15 by means of a standard communicationnetwork, as will be described further below. It should be noted thateach device 15 may connect directly to a communication port for thecomputer system or, in the alternative, to a common network hub which isin turn connected to the computer system (e.g., via ethernetcommunication means). In use, the central computer system serves to,among other things: (i) control the operation of the various devices 15(i.e., manage the automated testing process within chamber 14), and (ii)compile the data that results from the testing (either using an internaldatabase or by linking with an external database).

Cart (17)

As noted above, each cart 17 is designed to support an associatedlaboratory device 15. In one embodiment, each cart 17 is modular anduniversal in its construction and is thereby capable of supporting awide range of different laboratory devices 15.

Referring now to FIGS. 3 and 4, each cart 17 may comprise asubstantially square-shaped frame 23. A substantially flat top panel 25is mounted to the top of frame 23 and is secured in place relativethereto using conventional fastening elements (e.g., screws). Similarly,a substantially flat bottom panel 27 may be mounted to the underside offrame 23 and is secured in place relative thereto using conventionalfastening elements (e.g., screws). As seen in the drawings, frame 23 andtop panel 25 together support the laboratory device 15 that is mountedon cart 17 and, as result, may be constructed out of a rigid, strong anddurable material, such as metal. Other shapes for frame 23 and panel 25may also be possible.

As seen most clearly in FIG. 3, each cart 17 preferably includes agenerally U-shaped handle 35 which extends upward from the rear edge offrame 23. As will be described further herein, handle 35 facilitates inthe manual manipulation of cart 17.

In one embodiment, each laboratory device 15 is fixedly mounted on toppanel 25 of its corresponding cart 17 using any well-knownalignment/retention means (e.g., complementary pins and holes) in orderto establish repeatability of position therebetween. In this manner, thealignment/retention means ensures that the device 15 will seamlesslyintegrate with the remainder of testing system 11.

As seen most clearly in FIG. 4, each cart 17 includes a plurality ofwheels 37-1, 37-2, 37-3 and 37-4, a symmetrical pair of tracks 39-1 and39-2, a plurality of alignment pins 41-1, 41-2 and 41-3, a pair ofdampening blocks 43-1 and 43-2, a fluid connector 45 and an electricalconnector 47, the particulars for each component to be described indetail below.

Wheels 37 are fixedly mounted onto bottom panel 27 using conventionalfastening means (e.g., screws, bolts, etc.), which may be arranged withone wheel 37 positioned in each corner. Together, wheels 37 enable cart17 to glide easily along a flat surface, such as workspace floor 21. Inthis manner, cart 17 facilitates moving laboratory device 15 in relationto the remainder of testing system 11.

Referring now to FIG. 5, tracks 39 are fixedly mounted to bottom panel27 using any conventional fastening means (e.g., screws). As can beseen, tracks 39 are spaced apart from one another so as to define a postreceiving channel 47 therebetween that is widened at its front end 47-1and substantially narrowed towards its back end 47-2. As will bedescribed further in detail below, tracks 39 serve as guide rails thatfacilitate in the proper positioning of cart 17 in relation to acorresponding docking station 19.

Alignment pins 41 may be fixedly mounted to bottom panel 27 in agenerally triangular configuration. As seen most clearly in FIG. 5, eachalignment pin 41 may have a hemispherical, or dome-like, shape. In analternative embodiment, four alignment pins 41 in a quadrilateralarrangement may be used. As will be described further in detail herein,alignment pins 41 serve both: (i) as a means for accurately aligningcart 17 in its proper position relative to docking station 19 (which isin turn used to position device 15 within chamber 13 with a high levelof repeatability), and (ii) as the primary points of contact whendocking station 19 lifts cart 17 upward off workspace floor 21.

Dampening blocks 43 may be fixedly mounted to bottom panel 27 along itsfront edge. As will be described further below, dampening blocks 43 areused to decelerate cart 17 as it is rolled into position above acorresponding docking station 19.

Fluid connector 45 is fixedly mounted to bottom panel 27 and is fluidlyconnected with the particular laboratory device 15 that is mounted oncart 17. As seen most dearly in FIG. 6, fluid connector 45 may comprisea plurality of isolated input fluid ports 49-1, 49-2, 49-3 and 49-4,wherein each input fluid port 49 is designated to deliver a particularfluid (e.g., compressed air, water, etc.) into an appropriate port inlaboratory device 15. As defined herein, use of the term “fluids” ismeant to denote liquids and/or gases.

As will be described in greater detail below, fluid connector 45 isadapted to matingly engage with a complementary fluid connector ondocking station 19. In this manner, fluids are delivered to laboratorydevice 15 via cart 17 and docking station 19.

It should be noted that fluid connector 45 is not limited to aparticular number of input fluid ports 49. Rather, it is to beunderstood that the number of input fluid ports 49 could be modifiedwithout departing from the spirit of the disclosure.

Electrical connector 47 is fixedly mounted to bottom panel and iselectrically connected with the primary system electronics forlaboratory device 15. As seen most clearly in FIG. 6, connector 47 isrepresented herein as being in the form of an industrialzero-insertion-force electrical connector that includes a pair of guidepins 51-1 and 5-2 and a plurality of individual electrical pins 53 whichcan be used, among other things, to transmit power or communicationsignals and to regulate the state of internal fluid valves, as will bedescribed in greater detail below.

In one embodiment, selected pins 53 of electrical connector 47 areelectrically connected to a microprocessor (not shown) that is embeddedwith cart 17 and that is programmed with a unique identification codefor self-identification purposes. For example, the self-identificationmicroprocessor may be of the type that is manufactured and sold by MaximIntegrated Products, Inc. of Sunnyvale, Calif. under the name iButton®.As can be appreciated, the provision of a self-identifyingmicroprocessor in cart 17 enables the central computer system toimmediately identify each laboratory device 15 that is installed intotesting system 11, which is highly desirable.

It is to be understood that cart 17 may be provided with alternativemeans of self-identification without departing from the spirit of thedisclosure. For example, each cart 17 may include an ethernet devicewith a unique IP address which can be used for identification purposes.

Docking Station (19)

As noted briefly above, docking stations 19 are designed to releasablyengage with carts 17. More specifically, it is to be understood thateach docking station 19 serves two principal functions: (i) tomechanically lift cart 17 off the workspace floor 21 so that thelaboratory device 15 mounted thereon is integrated into testing system11 with a high degree of repeatability, and (ii) to provide a quick,automated means of delivering the requisite electrical and fluid inputsto cart 17 which are, in turn, delivered to the laboratory device 15mounted thereon.

Referring now to FIGS. 7( a), 7(b) and 8, each docking station 19 isconstructed to include a base 57 that is fixedly mounted in place onworkstation floor 21 (e.g., using bolts, screws, etc.). Base 57 iscentrally recessed so as to define an interior cavity 59 that is sizedand shaped to retain the majority of the electrical components fordocking station 19. A top plate 61 is slidably mounted over base 57 soas to substantially enclose interior cavity 59. In one embodiment, base57 and top plate 61 may be both constructed out of a rigid, strong anddurable material, such as steel or aluminum, for reasons to becomeapparent below.

A programmable logic controller (PLC) 63 may be disposed within interiorcavity 59 and is responsible for managing the principal operations ofdocking station 19.

A pair of inflatable bladders 67-1 and 67-2 may also be disposed withininterior cavity 59. When inflated with compressed air, bladders 67displace top plate 61 upward and away from base 57, as seen most clearlyFIGS. 7( a)-7(b). As will be described further in detail herein, theupward displacement of top plate 61 serves to both: (i) lift cart 17 offworkspace floor 21, and (ii) establish fluid and electrical connectionbetween cart 17 and docking station 19.

Bladders 67 may be designed for actuation through the depression of afoot pedal 69. Specifically, the depression of foot pedal 69 generatesan electrical signal that is received by PLC 63. If PLC 63 determinesthat a cart 17 is properly positioned above the docking station 19, PLC63 activates the inflation of bladders 67.

It should be noted that docking station 19 is not limited to the use ofpneumatic means for raising top plate 61 relative to base 57. Rather, itis to be understood that alternative means for raising top plate 61relative to base 57 (e.g., conventional mechanical linkages, pneumaticcylinders, hydraulic cylinders, motors with worm gears or any of avariety of other linear movers) could be used in place of the pneumaticmeans without departing from the spirit of the disclosure.

It should also be noted that docking station 19 is not limited to theimplementation of a foot pedal 69 to actuate inflatable bladders 67.Rather, it is to be understood that alternative actuation means (e.g., afinger-activated electrical switch) could be implemented in placethereof without departing from the spirit of the disclosure.

As seen most clearly in FIG. 7( a), docking station 19 may additionallycomprise a plurality of alignment posts 71-1, 71-2 and 71-3, a pluralityof alignment blocks 73-1, 73-2 and 73-3, a plurality of top plate stopassemblies 75-1, 75-2, 75-3 and 75-4, a pair of shock absorbers 77-1 and77-2, and a mechanical switch 78, the details of each component to bedescribed in detail below.

Alignment posts 71 may be arranged in a co-linear configuration, eachalignment post 71 being generally cylindrical in shape and rigid in itsconstruction. One end of each post 71 may be fixedly coupled to the topsurface of base 57 (e.g., by brackets), as seen most clearly in FIG. 8,with the opposite end of each post 71 extending orthogonally upward andthrough a corresponding circular opening in top plate 61, as seen mostclearly in FIG. 7( a). In this manner, the free end of each post 71protrudes slightly above top plate 61. As will be described furtherherein, the exposed portions of posts 71 cooperate with tracks 39 toroughly guide cart 17 into its proper position above docking station 19prior to actuation of foot pedal 69.

Alignment blocks 73 may be fixedly mounted onto the top surface of topplate 61 in a triangular (or quadrilateral) formation, as seen mostclearly in FIGS. 7( a) and 7(b). Alignment blocks 73-1, 73-2 and 73-3may be shaped to include V-shaped grooves 79-1, 79-2 and 79-3,respectively, which in turn may be sized and shaped to fittingly receivealignment pins 41-1, 41-2 and 41-3, respectively, on cart 17, as will bedescribed further in detail below. It should be noted that the pluralityof grooves 79 extend in different directions in order to providethree-dimensional (six degrees of freedom) accuracy of cart 17 relativeto docking station 19.

Stop assemblies 75 may be spaced adequately apart from one another andtogether serve to limit the degree that top plate 61 may be displacedupward and, as a result, the height that cart 17 may be lifted offworkspace floor 21. As seen most clearly in FIG. 8, each stop assembly75 may include a cylindrical post 81 that may be affixed at one end tothe top surface of base 57 (e.g., by brackets). As seen most clearly inFIG. 7( a), the opposite end of each post 81 may extend orthogonallyupward and fittingly protrudes through a circular opening provided in astop bearing 83 that is fixedly mounted on top plate 61. An enlargedannular stop 85 may be fixedly mounted on the free end of each post 81and may be sized and shaped to abut against its associated bearing 83once top plate 61 advances a pre-determined distance upward, as seenmost clearly in FIG. 7( b).

Shock absorbers 77-1 and 77-2 may be fixedly coupled to base 57 ofdocking station 19 in a spaced apart relationship, as seen most clearlyin FIG. 8. Each shock absorber 77 may include a horizontally disposed,spring-biased damper 87 that is supported by a vertically-disposedmounting bracket 89 that fittingly protrudes through a correspondingslot formed in top plate 61. In this manner, each damper 87 is spacedslightly above the top surface of top plate 61 and extends substantiallyparallel relative thereto, as seen most clearly in FIGS. 7( a) and 7(b).As will be described further herein, dampers 87 are used as cart 17 isbeing rolled into place above a corresponding docking station 19.Specifically, dampers 87 serve two principal functions: (i) to limit thedegree of forward displacement of cart 17 relative to docking station19, and (ii) to adequately decelerate cart 17 as it is being rolled intoposition, thereby absorbing the force of the cart 17 (as well as thelaboratory device 15 mounted thereon) in order to minimize the risk ofany physical damage to either the cart 17, device 15 or docking station19 during the installation process. In an alternative embodiment, shockabsorbers 77-1 and 77-2 are replaced by one shock absorber positioned atthe rear of the bottom of cart 17, and designed to hit alignment post71-3.

Mechanical switch 78 may be electrically connected to PLC 63 and atleast partially protrudes out through an opening formed in top plate 61.Accordingly, as cart 17 is advanced into position above docking station19, frame 23 of cart 17 actuates mechanical switch 78. The actuation ofmechanical switch 78 produces an electrical signal that is received byPLC 63. In response thereto, PLC 63 supplies the power to bladders 67that is required for their inflation upon activation of foot pedal 69.

Each docking station 19 may be designed to include, among other things,a power input, one or more serial or Ethernet communication outputs andone or more fluid inputs. Specifically, as seen most clearly in FIG. 9,an end plate 91 is fixedly mounted to base 57 and supports various fluidand electrical interfaces, as will be described in detail below.

End plate 91 is represented herein as comprising four separate inputfluid ports 93-1, 93-2, 93-3 and 93-4. Each port 93 is designated toreceive a particular fluid (e.g., water, nitrogen, oxygen, compressedair, etc.) that is provided, for example, from a remote source.

End plate 91 is represented herein as additionally comprising aplurality of communication signal connectors 95 which are electricallyconnected to PLC 63. Alternatively, signal connectors 95 may be replacedby a principal Ethernet communication signal passed through the dockingstation, going directly from end plate 91 to the telescoping electricalconnector at the top of the docking station. Each connector 95 may be inthe form of any conventional electrical connector that is designedprincipally for use in the transmission of communication data. Forexample, each communication signal connector 95 may be in the form of astandard connector (e.g., a DB-9 serial port connector or an RJ-45Ethernet connector). It should be noted that the establishment of aserial port connection between docking station 19 and the centralcomputer system enables test results data to be passed therebetween,which is highly desirable.

End plate 91 is represented herein as further comprising an input powerconnector 97 which pulls power for the purpose of powering PLC 63 andthe various valves and sensors inside the docking station. In thismanner, it is to be understood that docking station 19 is supplied withthe necessary power to operate.

It should be noted that the aforementioned fluid and electricalconnections that are made with each docking station 19 are intended tobe relatively permanent in nature. Because docking station 19 and cart17 can be fluidly and electrically connected through the use of simple,automated means (as will be described in detail below), it is to beunderstood that the integration of an individual laboratory device 15into testing system 11 eliminates the time-consuming process ofindividually connecting all of the assorted fluid and electricalinputs/outputs into the laboratory device 15.

As noted above, each docking station 19 is designed to fluidly andelectrically connect with a corresponding cart 17 through the use ofsimple, automated means. Specifically, as seen most clearly in FIG. 7(b), each docking station 19 includes a fluid connector 101 and anelectrical connector 103. As will be described further in detail below,fluid connector 101 is adapted to matingly engage with fluid connector45 on cart 17 and electrical connector 103 is adapted to matingly engagewith electrical connector 47 on cart 17. Through the use of thesecomplementary pairs of mating connectors, fluid and electricalinterconnection is established between docking station 19 and cart 17.

Referring now to FIGS. 7( a), 7(b), 10, 11(a)-11(c) and 12(a)-12(c),both fluid connector 101 and electrical connector 103 are pivotallycoupled to the underside of top plate 61 by corresponding mechanicallinkage assemblies 104-1 and 104-2. As will be described further below,linkage assemblies 104-1 and 104-2 are used to displace connectors 101and 103, respectively, between retracted and extended positions. Itshould be noted that connectors 101 and 103 are designed to matinglyengage with corresponding connectors 45 and 47, respectively, on cart 17only when disposed in their extended positions.

When disposed in their retracted positions, connectors 101 and 103 arepreferably located entirely within interior cavity 59 of docking station19 and are protected (i.e., covered) by first and second pairs oflaterally extending panels 105 and 107, respectively, as seen mostclearly in FIG. 7( a), FIG. 11( a) and FIG. 12( a).

As top plate 61 rises, linkage assemblies 104-1 and 104-2 begin to pivotwhich, in turn, cause pairs of panels 105 and 107 to part from oneanother and at least partially retract within interior cavity 59, asseen most clearly in FIGS. 10, 11(b) and 12(b). With panels 105 and 107parted as such, further rising of top plate 61 enables linkageassemblies 104-1 and 104-2 to upwardly advance connectors 101 and 103,respectively, into their extended positions above the top surface of topplate 61, as shown in FIG. 11( c) and FIG. 12( c).

As seen most clearly in FIG. 10, fluid connector 101 may include amodular cylindrical block 113 that is shaped to define four separateoutput fluid ports 115-1, 115-2, 115-3 and 115-4. Each output fluid port115 is designated for fluid communication with corresponding input port93. In addition, each output fluid port 115 may be constructed to matewith a corresponding input fluid port 49 (FIG. 6) on connector 45. Inthis manner, the supply of a particular fluid is input into dockingstation 19 through a particular input port 93 formed in end plate 91,exits docking station 19 through a corresponding port 115 in connector101 and, in turn, is input into cart 17 through an appropriate port 49in connector 45.

In one embodiment, an internal valve (not shown) may be located indocking station 19 between each input port 93 and its correspondingoutput port 115. Controlled by PLC 63, each internal valve can be usedto regulate the delivery of its corresponding fluid into cart 17. Forexample, if a particular laboratory device 15 requires a limited numberof fluid inputs, selected internal valves may be disposed in theirclosed positions. In this manner, docking station 19 can be readily usedwith a wide variety of laboratory devices 15 that have different fluidrequirements, thereby rendering docking station 19 more universal in itsconstruction, which is highly desirable.

As seen most clearly in FIG. 10, electrical connector 103 may include apair of power contacts 117-1 and 117-2 that are electrically connectedto input power connector 97 via PLC 63. Each contact 117 may be adaptedto electrically mate with a corresponding pin 51 on connector 47. Inthis manner, docking station 19 supplies power to cart 17.

Electrical connector 103 additionally includes an insulated block 119that is designed to support a plurality of individual contacts 121, eachcontact 121 being electrically connected to PLC 63. It should be notedthat certain sets of contacts 121 may be designated for use inconjunction with a particular operation.

As an example, certain contacts 121 may receive markers for regulatingthe state of the internal valve disposed in each fluid line.Specifically, if an electrical pin 53 on connector 47 connects to adesignated marker contact 121, a corresponding signal is in turn sentfrom connector 103 to PLC 63. In response thereto, PLC 63 regulates thestate of its corresponding valve in accordance therewith. In thismanner, the particular configuration of pins 53 on cart connector 47 canbe used to inform PLC 63 of the fluid requirements for laboratory device15.

As another example, certain contacts 121 may be used to delivercommunication signals from cart 17 to docking station 19 using anyindustry standard local area network (LAN) communication protocol (e.g.,using an ethernet communication protocol or an RS232 communicationprotocol). Accordingly, communication data can be sent from laboratorydevice 15 to central computer system via cart 17 and docking station 19,which is highly desirable.

As yet another example, certain contacts 121 may be designated asself-identification contacts. Specifically, these contacts 121 aredesignated to connect with certain pins 53 on cart 17 that are, in turn,electrically connected with the microprocessor embedded in cart 17. Asnoted above, the embedded microprocessor is preferably programmed with aunique identification code. Accordingly, the self-identification codecan be sent from cart 17 to docking station 19 and, in turn, to thecentral computer system for testing system 11. In this manner, thecentral computer system is able to readily identify each laboratorydevice 15 that is integrated into system 11, which is highly desirable.

It should be noted that electrical connector 103 (as well as matingelectrical connector 47 on cart 17) is not limited to a particularnumber and/or designation of contacts 121. Rather, it is to beunderstood that the number and/or designation of contacts 121 forelectrical connector 103 could be modified for use with alternativeapplications without departing from the spirit of the disclosure.

Process of Coupling Cart (17) to Docking Station (19)

In use, cart 17 is designed to releasably engage with any of theuniversal docking stations 19 in the following manner in order toseamlessly integrate a particular laboratory device 15 into automatedtesting system 11.

As noted above, each of the various docking stations 19 is fixedlymounted on workspace floor 21 underneath flat table surface 13. Withdocking stations 19 positioned as such, all of the necessary fluidinput, power input and serial communication connections are made witheach docking station 19. As can be appreciated, each of theaforementioned connections are intended to be permanent in nature.

In order to integrate a particular laboratory device 15 into system 11,the device 15 is first mounted on top panel 25 of cart 17, as shown inFIG. 3. As noted above, cart 17 is preferably provided with means forproperly aligning device 15 on top panel 25 (e.g., complementary pinsand holes) to ensure that the device 15 seamlessly integrates with theother laboratory devices in system 11.

With device 15 mounted on cart 17, the laboratory technician graspshandle 35 and manually displaces cart 17 in the forward directiontowards an available docking station 19 (as represented by arrow A inFIG. 2( a)). As noted above, wheels 37 enable cart 17 to be rolled andtherefore greatly facilitate in the displacement process.

As cart 17 is rolled in the direction toward the available dockingstation 19, posts 71-1, 71-2 and 71-3 sequentially align within thewidened front end 47-1 of the post receiving channel 47 formed betweentracks 39 on cart 17. Further advancement of cart 17 over dockingstation 19 causes posts 71 to extend within the narrowed back end 47-2of channel 47. In this capacity, alignment posts 71 and tracks 39together serve to roughly guide cart 17 in place above docking station19. More specifically, posts 71 and tracks 39 reduce the likelihood ofmisalignment between cart 17 and docking station 19 in the lateral(i.e., side-to-side) direction.

Continued advancement of cart 17 in the forward direction eventuallycauses dampening blocks 43-1 and 43-2 on cart 17 to contact shockabsorbers 77-1 and 77-2, respectively, on docking station 19, therebyprecluding further forward displacement of cart 17. As noted above, theability of shock absorbers 71 to decelerate cart 17 as it is rolled intoits proper position above docking station 19 minimizes the risk ofharmful contact.

As cart 17 is being rolled into position above docking station 19, frame23 of cart 17 actuates mechanical switch 78 on docking station 19. Theactuation of mechanical switch 78 notifies PLC 63 that a cart 17 is inposition above docking station 19. In response thereto, PLC 63 suppliesthe necessary power to bladders 67 to inflate upon activation by footpedal 69.

With cart 17 now positioned roughly in place above the available dockingstation 19, the technician depresses foot pedal 69 in order tomechanically, fluidly and electrically couple cart 17 with dockingstation 19. The depression of foot pedal 69 generates an electricalsignal that is received by PLC 63. In response thereto, PLC 63 activatesthe inflation of internal bladders 67. As noted above, the inflation ofbladders 67 causes top plate 61 to rise relative to base 57.

As top plate 61 is displaced upward, the V-shaped groove 79 in eachalignment block 73 receives a corresponding alignment pin 41 on cart 17,as seen most clearly in FIGS. 11( a)-11(c). The projection of pins 41-1,41-2 and 41-3 into grooves 79-1, 79-2 and 79-3, respectively, results inthe micro-alignment (i.e., fine-tuned, high accuracy alignment) of cart17 relative to docking station 19.

It should be noted that, as top plate 61 continues to rise, alignmentblocks 73 eventually apply an upward force to alignment pins 41. As aresult, the points of contact established between alignment pins 41 andalignment blocks 73 are used to physically lift cart 17 off workspacefloor 21. Top plate 61 continues upward until fixed bearings 83 abutagainst stops 85, thereby limiting further displacement. In this manner,docking station 19 is used to lift cart 17 a fixed, pre-determineddistance off workspace floor 21, as shown in FIG. 3.

By lifting cart 17 up a pre-determined distance off workspace floor 21,cart 17 is effectively immobilized at a specified position which, inturn, disposes laboratory device 15 at a highly repeatable position. Asa result, device 15 is able to more seamlessly integrate with theremainder of system 11.

Referring now to FIGS. 12( a)-12(c), the upward displacement of topplate 61 is also used to establish the necessary fluid and electricalconnections between cart 17 and docking station 19. Specifically, priorto the inflation of bladders 67, top plate 61 remains in its loweredposition. With top plate 61 positioned as such, connectors 101 and 103are disposed in their retracted positions (i.e., connectors 101 and 103are located entirely within interior cavity 59 and are covered by panels105 and 107, respectively), as shown in FIG. 12( a). As top plate 61begins to rise, linkage assemblies 104-1 and 104-2 retract panels 105and 107, respectively, into interior cavity, as shown in FIG. 12( b).With panels 105 and 107 opened, fluid and electrical connectors 101 and103 are advanced into their extended positions. Advanced in this manner,fluid and electrical connectors 101 and 103 matingly engage withcorresponding fluid and electrical connectors 45 and 47, respectively,as shown in FIG. 12( c), thereby establishing fluid and electricalconnection between cart 17 and docking station 19.

As can be appreciated, with cart 17 now mechanically, fluidly andelectrically connected to docking station 19 in the manner describedabove, the laboratory device 15 mounted on cart 17 is effectivelyintegrated into system 11 with a high level of positional accuracy,thereby ensuring seamless integration with the other laboratory devices.

In order to remove the particular device 15 from system 11, foot pedal69 is actuated once again which, in turn, causes PLC 63 to deflateinternal bladders 67. The deflation of bladders 67 lowers top plate 61which, in turn: (i) returns wheels 37 of cart 17 back onto workspacefloor 21, (ii) disconnects fluid connector 45 on cart 17 from fluidconnector 101 on docking station 19, and (iii) disconnects electricalconnector 47 on cart 17 from electrical connector 103 on docking station19. At that time, cart 17 can be backed out from system 11 using handle35.

As detailed herein, all of the necessary fluid input, power input andserial communication connections that are made with each docking station19 are intended to be permanent in nature. Consequently, individuallaboratory devices 15 can be seamlessly integrated into automatedtesting system 11 simply by rolling cart 17 in place above an availabledocking station 19 and actuating foot pedal 69. Accordingly, a pluralityof individual electrical and/or fluid connections need not be made witha particular laboratory device 15 during its installation, which is indirect contrast to most conventional testing systems. As can beappreciated, the ability to readily integrate individual laboratorydevices 15 into automated testing system 11 through the matingengagement between cart 17 and an associated docking station 19 providessystem 11 with a number of notable advantages over prior art testingsystems.

As a first advantage, the ability to quickly and easily integrateindividual laboratory devices 15 into system 11 allows for both: (i) theseamless integration of new, state-of-the-art devices 15 into system 11as well as, (ii) the repair and/or upgrading of existing devices 15 insystem 11. As a result, the lifespan of automated testing system 11 canbe substantially increased.

As a second advantage, the ability to readily withdraw a particularlaboratory device 15 from automated testing system 11 and, subsequentthereto, readily re-integrate the laboratory device 15 back intoautomated testing system 11 enables the laboratory device 15 to be usedin conjunction with multiple concurrent experiments. Due to the highcosts associated the purchase with certain pieces of laboratoryequipment 15, the ability to use a single laboratory device 15 inconjunction with simultaneous assays can be used to significantly reduceresearch costs.

As a third advantage, the process associated with the integration aparticular laboratory device 15 into automated testing system 11 issignificantly less time-consuming and physically demanding than theinstallation process associated with traditional testing systems. As aresult, the disclosure provides laboratory technicians with more freetime to perform a greater number of assays.

Additional Applications and Arrangements for Carts (17) and DockingStations (19)

It is to be understood that the use of compatible carts 17 and dockingstations 19 is not limited to a cell-type (i.e., enclosed) testingenvironment. Rather, it is to be understood that pairs of complementarycarts 17 and docking stations 19 could be implemented into alternativeforms of testing environments in the life sciences industry withoutdeparting from the spirit of the disclosure.

For example, referring now to FIG. 13, there is shown a perspective viewof an open architecture testing system that is constructed according tothe teachings of the disclosure, the testing system being identifiedgenerally by reference numeral 211. As can be seen, system 211 comprisesan elongated, linear track 213 (rather than the flat table surface 13provided in system 11). A pair of multi-axis robotic arms 215 aremounted on track 213 and are preferably capable of being slidablydisplaced along its longitudinal axis.

In system 211, a series of docking stations 19 are linearly arrangedboth in front of and behind track 213, each docking station 19 beingfixedly mounted in place on the workspace flooring. In the same manneras described above in conjunction with system 11, each docking station19 in system 211 is adapted to matingly receive a corresponding cart 17.As a result, various types of laboratory devices (some of which areidentified generally in FIG. 13 as devices 219-1 through 219-4) that aremounted on carts 17 can be readily integrated into system 211.

It should be noted that, by flanking both sides of the linear track 213with docking stations 19, the number of laboratory devices 219 that canbe integrated into system 211 is maximized, thereby rendering system 211compact in size but highly functional in its capabilities, which ishighly desirable.

Referring to FIGS. 14-19, different embodiments of testing environmentsin the life sciences industry, i.e., different docking systemarrangements, according to the disclosure are illustrated. Each dockingsystem arrangement according to the disclosure employs docking stationssuch as those described above.

For example, referring now to FIGS. 14-17, there is shown a perspectiveview of another open architecture testing system that is constructedaccording to the teachings of the disclosure, the testing system beingidentified generally by reference numeral 311. As can be seen, system311 comprises at least one unit 302A, 302B (two shown) that form a basicelement of the arrangement. Each unit 302A, 302B includes a polygonalbase 304 having a plurality of sides, a number of the plurality of sidesincluding a docking station 19 (FIGS. 16-17), as described herein, formating with a mobile equipment carrying cart 317 (FIGS. 14-15). Inaddition, each unit 302A, 302B includes a multi-axis robotic arm 306having a stationary base 308 positioned on or in polygonal base 304 andconfigured to interact with the equipment on each mobile equipmentcarrying cart 317 (FIGS. 14-15). Each of the sides face outwardly fromstationary robotic arm 306.

In system 311, in the same manner as described above in conjunction withsystem 11, each docking station 19 in system 311 is adapted to matinglyreceive a corresponding cart 317. As a result, various types oflaboratory devices that are mounted on carts 317 can be readilyintegrated into system 311.

In one embodiment, at least a pair of units 302A, 302B are positionedadjacent to one another, each pair including an interface station 320therebetween for allowing passing of material between the units.Interface or bridge station 320 may include any structure necessary toproperly position material for movement between units 302A, 302B andmaintain the material in a desired state, e.g., a flat surface, materialholder, heating or cooling chamber, etc. In one embodiment, interfacestation 320 may include a turntable 322 for turning material to face inan appropriate direction. It should be noted that, by providingpolygonal bases 304, any number of units 302 may be providedsequentially such that the number of laboratory devices 319 that can beintegrated into system 311 is maximized, thereby rendering system 311compact in size but highly functional in its capabilities, which ishighly desirable.

In one embodiment, each polygonal base 304 includes at least six sidesand in another embodiment may include at least nine sides (shown),however, they may include practically any number. System 311, asdescribed herein, may also include a controller 330, e.g., centralcomputer system, for controlling operation of each unit 302.

Referring to FIGS. 18-22, another embodiment of an enclosed system 411is illustrated. System 411 may comprise a table 413 including an opening440 through an upper surface 442 thereof. A docking station 19 formating with a mobile equipment carrying cart 417 is positioned undertable 413. In this embodiment, equipment 419 on cart 417 is sealinglyaccessible to the opening 440. A laminar flow enclosure 414 encloses atleast upper surface 442 of table 413 creating a biohazard safety level(BSL) 2environment. Conventional environmental equipment 444 may beprovided, e.g., atop enclosure 414, to establish the BSL2 environment.System 411 also includes stationary robotic arm 406 positioned inlaminar flow enclosure 414 for interaction with the equipment. Table 413may also include a plurality of openings 440 (see especially FIG. 22)for accommodating a number of carts 417 thereunder in which case aplurality of docking stations 19 are provided with each docking stationreceiving a cart 417 for sealing accessibility to a respective openingin the table. As shown in FIGS. 20-21, cart 417 includes a seal 450 forcreating a sealed chamber with opening 440 upon docking of the cart withdocking station 19. Hence, a single contiguous sealed chamber is formedbetween the equipment on cart 417 and the table 413. As shown in FIG.21, opening 440 may include a downwardly extending lip 452 to assist insealing, but this structure may not be necessary. Although particulartypes of seals have been shown, a variety of other mechanisms forsealing cart 417 and/or equipment 419 to opening 440 are consideredwithin the scope of the disclosure.

FIGS. 23-24 show another embodiment according to the disclosure. Thisembodiment includes a mobile equipment and flow enclosure carrying cart460 including a portion of the laminar flow enclosure 414, the portionof the laminar flow enclosure on the mobile equipment and flow enclosurecarrying cart mate-able with another portion of the laminar flowenclosure on the table, e.g., via a seal 462. That is, cart 460 issealable via a seal 462 along mating surfaces thereof with the rest ofthe BSL2 environment. Cart 460 may be used in conjunction with table 413as described herein or separately with similar carts to form a BSL2environment. Each cart 460 may include its own environment controls suchas a HEPA filter system 464. FIG. 23 shows cart 460 separated from table413, and FIG. 24 shows cart 460 coupled to table 413.

FIGS. 25-28 show another embodiment according to the disclosure. Thisembodiment includes a single testing system 311, similar to that shownin FIGS. 14-17 in a laminar flow enclosure 514, similar to thosedescribed herein and forming a BSL2environment. In one embodiment,laminar flow enclosure 514 includes an equal number of sides as testingsystem 311 such that each side may be opened, as shown in FIG. 28, toaccess a cart 560 inside thereof. As described herein, each cart has acorresponding docking station 19. Each side may include its ownenvironment controls such as a HEPA filter system 564 (FIG. 25 only).FIG. 23 shows cart 460 separated from table 413, and FIG. 24 shows cart460 coupled to table 413.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the disclosure.As used herein, the singular forms “a”, “an” and “the” are intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. It will be further understood that the terms “comprises”and/or “comprising,” when used in this specification, specify thepresence of stated features, integers, steps, operations, elements,and/or components, but do not preclude the presence or addition of oneor more other features, integers, steps, operations, elements,components, and/or groups thereof.

The corresponding structures, materials, acts, and equivalents of allmeans or step plus function elements in the claims below are intended toinclude any structure, material, or act for performing the function incombination with other claimed elements as specifically claimed. Thedescription of the present disclosure has been presented for purposes ofillustration and description, but is not intended to be exhaustive orlimited to the disclosure in the form disclosed. Many modifications andvariations will be apparent to those of ordinary skill in the artwithout departing from the scope and spirit of the disclosure. Theembodiment was chosen and described in order to best explain theprinciples of the disclosure and the practical application, and toenable others of ordinary skill in the art to understand the disclosurefor various embodiments with various modifications as are suited to theparticular use contemplated.

What is claimed is:
 1. A system comprising: a unit including: a regularpolygonal base having a plurality of sides of substantially equal lengthoriented at substantially equal angles, a number of the plurality ofsides each including a fixedly mounted docking station, each of thefixedly mounted docking stations including: a top plate; a fluidconnector and an electrical connector each pivotably coupled to anunderside of the top plate; a pair of linkage assemblies, each linkageassembly pivotably coupling one of the fluid connector or the electricalconnector to the underside of the top plate, wherein each of the pair oflinkage assemblies is configured to either obstruct the one of the fluidconnector or the electrical connector or expose the one of the fluidconnector or the electrical connector; and a set of guide postsextending from a top surface of the top plate; at least one mobile carthaving a laboratory testing device mounted thereon, the at least onemobile cart including: a bottom plate overlying the top plate of one ofthe fixedly mounted docking stations; a track extending from a bottomsurface of the bottom plate; and a fluid connector and an electricalconnector exposed at the bottom surface of the bottom plate, wherein theat least one mobile cart is configured to matingly engage the onefixedly mounted docking station by engaging the track of the at leastone mobile cart with the set of guide posts from the one fixedly mounteddocking station and initiating movement of the pair of linkageassemblies, wherein in response to being matingly engaged, at least oneof the pair of linkage assemblies exposes the one of the fluid connectoror the electrical connector, and at least one of a fluid connection oran electrical connection is established between the one fixedly mounteddocking station and the laboratory testing device on the at least onemobile cart; and a robotic arm having a stationary base positioned on orin the polygonal base and configured to interact with the laboratorytesting device on any mobile cart matingly engaged with the one fixedlymounted docking station.
 2. The system of claim 1, further comprising atleast a pair of units positioned adjacent to one another, each pairincluding an interface station therebetween for allowing passing ofmaterial between the units.
 3. The system of claim 1, wherein thepolygonal base includes at least six sides.
 4. The system of claim 3,wherein the at least six sides includes at least nine sides.
 5. Thesystem of claim 3, wherein each of the sides of the at least six sidedbase face outwardly from the stationary robotic arm.
 6. The system ofclaim 1, further comprising a controller for controlling operation ofthe unit.
 7. The system of claim 1, further comprising a laminar flowenclosure enclosing the unit creating a biohazard safety level 2environment.
 8. The system of claim 1, wherein each of the fixedlymounted docking stations further includes a communication signalconnector configured to allow communication between the at least onemobile cart and the regular polygonal base via at least one of thefixedly mounted docking stations